EP0187224B1 - Commande de courant pour un circuit d'entraînement de moteur - Google Patents

Commande de courant pour un circuit d'entraînement de moteur Download PDF

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Publication number
EP0187224B1
EP0187224B1 EP85114354A EP85114354A EP0187224B1 EP 0187224 B1 EP0187224 B1 EP 0187224B1 EP 85114354 A EP85114354 A EP 85114354A EP 85114354 A EP85114354 A EP 85114354A EP 0187224 B1 EP0187224 B1 EP 0187224B1
Authority
EP
European Patent Office
Prior art keywords
motor
voltage
current
lead
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP85114354A
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German (de)
English (en)
Other versions
EP0187224A1 (fr
Inventor
Larry Allen Blue
David Eugene Conner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
International Business Machines Corp
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International Business Machines Corp
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Filing date
Publication date
Application filed by International Business Machines Corp filed Critical International Business Machines Corp
Publication of EP0187224A1 publication Critical patent/EP0187224A1/fr
Application granted granted Critical
Publication of EP0187224B1 publication Critical patent/EP0187224B1/fr
Expired legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/04—Arrangements for starting
    • H02P8/10—Shaping pulses for starting; Boosting current during starting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/12—Control or stabilisation of current

Definitions

  • the present invention relates to power supplies in general and more particularly to power supplies for energizing stepper motors.
  • the use or stepper motors to perform a variety of industrial tasks is on the increase.
  • the typical stepper motor includes a plurality of independent windings which must be controlled in a predetermined sequence in order to produce an incremental step.
  • the control signals are generated from a control means which accepts a series of command pulses and provides control signals for controlling the windings.
  • the control signals force the motor to step a predetermined distance.
  • the step is, essentially, produced simultaneously with the appearance of the pulse.
  • each winding must be supplied with energizing current.
  • the energizing current is usually provided from an adequate power supply.
  • the prior art methods for solving the low startup torque problem can be broadly classified into two main circuit types, namely: chopper driver circuits and bilevel or pedestal driver circuits. Although both of these approaches work well for the intended purpose, they suffer from a common drawback, namely: a much higher voltage than the rated motor voltage is used to energize the motor. The high voltage causes the coil current to rise quickly thus increasing the startup torque.
  • the chopper drive circuit it is designed to pulse a high voltage across the motor coil at a relatively high frequency (say, 20 kHz). During the pulse, the coil current rises rapidly and decreases slowly when the pulse ends.
  • JA-A-51143817 Korean Chemical Co
  • a power supply apparatus capable of supplying constant current different between the driving and holding states of a pulse motor with no power loss from a single power source wherein the load current can be varied greatly with ease by the alteration of a reference voltage.
  • a voltage is applied to a transistor controlled by a switching circuit 10.
  • the transistor 11 produces a pulse voltage E2 under ON-OFF control which is smoothed and then supplied to coils 15-1 - 15-4 for each or the phases.
  • the current flowing through each of the phase coils is detected by a current level detector.
  • the detected output is compared with the divided component of the reference value REF to control the ON-OFF period of the switching transistor 11 so as to maintain the current passing therethrough at a constant level.
  • EP-A-59969 (Siemens) describes a voltage source for constant current control for stepping motor - measures load current and average drive voltage.
  • the voltage source has a first measuring device to measure the time-varying average of the drive voltage of the stepping motor.
  • a second measuring device measures the stepping motor's load current.
  • the measuring devices are connected to a controller supplied from reference voltage source. In response to the output from the first measuring device the controller regulates the drive voltage applied to the motor's windings and controls the current in them in response to the output from the second measuring device.
  • the pedestal or bilevel driver circuits apply a high voltage across the motor coil until the current reaches a predefined level whereupon the high voltage power supply is switched out of the circuit and a lower rated voltage supply is used to drive the coil.
  • the major disadvantages with this type of circuit are the requirement for at least two power supplies, noise isolation between the supplies, protection required when the power supplies are switched and low efficiency.
  • EP-A-116112 shows a pulse width modulator comprised of a waveform generator (40), a comparator (45) controlled by a clock sequenced sample and hold circuit (35) and a latch (50) which controls driving transistors (Q1-Q4) through a phase and switching control logic and drive circuit (20) to monitor the duty cycle and maintain the average motor winding current to a desired value.
  • the circuit arrangement includes a low voltage power supply and a regulating circuit connected thereto.
  • the combination supplies a maximum available voltage to the motor when it is at rest.
  • the coil current is monitored and when it rises above a threshold, the regulating circuit reduces the available voltage to the motor until the coil current falls to the level required to maintain motor motion.
  • the circuit arrangement includes a switching transistor whose emitter is coupled to the low voltage power supply.
  • An averaging filter having a conductive coil (L1) and a capacitor (C1) is connected in series, is coupled to the collector lead of the switching transistor.
  • the stepper motor coils are connected across the capacitor.
  • a device suitable for measuring the current through the motor coils and to generate a voltage signal representative of said current is coupled to the motor.
  • the voltage signal is used to adjust the duty cycle of the output signal from a pulse width modulator (PWM) which is coupled to the base lead of the switching transistor.
  • PWM pulse width modulator
  • Fig. 1 shows a schematic of the regulator circuit of the present invention driving a stepper motor.
  • Fig. 2 shows a set of graphs representative of the electrical signals appearing at different parts of the circuit in Fig. 1.
  • the power supply according to the teaching of the present invention is generally indicated by numeral 10.
  • the power supply further includes a regulating circuit arrangement (to be described hereinafter) which controls energy from a DC source 12 to a stepper motor 14.
  • the stepper motor includes a plurality of individual coils identified by numeral 20. Each coil is coupled through individual FET device 22 to a motor control means 24.
  • a current supply source 26 supplies current over leads 28 to the motor control leads.
  • Command pulses are supplied from an outside source over lead 30 to the motor control means 24.
  • the use of a motor control means such as 24 for modulating current in response to command pulses supplied thereto and to activate motor drivers such as the FET's 22 so that current flows through the selected coil to move the motor an incremental distance is well known in the prior art.
  • a command pulse is presented on conductor 30.
  • the motor control means 24 uses the pulse to modulate current supplied on lead 28 and as a result one or more or the FET devices are activated and current flows through the selected coil to step the motor a desired distance. Once the motor is stepped, a holding current holds the motor in its newly-acquired position until another step is executed.
  • the stepper motor 14 is connected by leads 32 and 34 to the power supply 10.
  • Lead 32 supplies an input voltage to input node 36 of stepper motor 14.
  • lead 32 is tied to the positive plate 39 of a capacitor C1.
  • the negative plate of C1 is tied to ground.
  • the voltage which is supplied to stepper motor 14 is essentially the voltage across C1. This voltage is adjusted so that when the motor is at rest (i.e., stationary) a very high voltage operable to provide a very high starting torque is applied across the windings of the motor. As the motor rotor begins to move and the friction and other forces decrease, the voltage on C1 is adjusted until the voltage across the winding is essentially that which is able to keep the motor in motion.
  • the capacitor C1 is connected to coil L1 which is connected to the collector lead of a switching transistor Q1.
  • the serial combination of L1 and C1 forms an inductive input averaging filter whose output on lead 32 represents the average value of a chopped input signal outputted from Q1.
  • a diode D1 is connected between ground and the collector lead of Q1. The diode is poled so that it provides a path for the inductor current when switch Q1 is in a non-conducting state (that is, turned-off).
  • the base lead of switching transistor Q1 is tied through resistor R2 to the output of a pulse width modulator M1.
  • the emitter of switching transistor Q1 is connected to DC source 12.
  • a resistor R1 is connected between the emitter lead and the base lead of switching transistor Q1. Resistor R1 provides a path for Q1 base leakage current, and defines the "off" VBE voltage.
  • M1 is a pulse width modulator whose function it is to provide a variable duty cycle output signal on lead 36 that is proportional to an error signal generated at node 38 and is supplied on conductor 40 to the input of said pulse width modulator.
  • the error voltage at node 38 is generated by the R3 C2 filter which interconnects node 38 to ground potential.
  • the error signal is representative of the average current through the motor coils.
  • the values of R3 and C2 are chosen so that with nominal current flowing through the windings of the motor the error voltage signal that is applied on conductor 40 to the pulse width modulator is such that the correct operating potential is applied on lead 32 to the motor.
  • stepper motor 14 shows four energization coils this should not be construed as a limitation on the scope of this invention since the present invention can be used with any motor having fewer or more than four energization coils.
  • Table I gives a listing of values for various components used in Fig. 1. Again, this listing is only representative of the components used and does not intend to limit this invention in any way.
  • Fig. 2 shows a set of graphs which are generated at different zones in the circuit arrangement of Fig. 1.
  • each graph is identified alphabetically. The same letter is used in Fig. 1 to identify the zone whereat the particular graph is generated.
  • graph A shows the voltage waveform which is outputted from capacitor C1 and is applied to the stepper motor 14. It should be noted that when the motor is at rest the total supply voltage (V cc ) which is outputted from DC source 12 is impressed across the winding of the motor. As the motor begins to move, the voltage decreases from V cc to some normal operating voltage. As the motor is brought to rest, the voltage across the motor ramps back up to the V cc .
  • Graph B shows the stepper motor drive pulses which are generated and outputted from motor control means 24.
  • Graph C shows the average stepper motor load current which is supplied to windings 20 of stepper motor 14. It should be noted that the largest amount of current is supplied when the motor initially starts from rest and decreases as the rotor of the motor continues to move.
  • Graph D shows an output signal from the pulse width modulator while Graph E shows the signal outputted from switching transistor Q1.
  • stepper motor drivers 22 With the stepper motor at rest the stepper motor drivers 22 are off and no current flows in sense resistor R3. With no current flow in R3, sense voltage input on conductor 40 to pulse width modulator M1 is zero. In this condition, the output from the pulse width modulator M1 is at its maximum duty cycle and it drives transistor Q1 into saturation. With no load current permitted to flow, the output filter capacitor C1 is charged to an approximate value of the input supplied voltage V cc .
  • the stepper motor drivers 22 When the stepper motor drivers 22 are turned on by motor control means 24, the motor coils 22 current will increase very rapidly because of the high voltage (approximately V cc ) being impressed across the coils. As the stepper motor coil current increases, the pulse width modulator M1 begins to reduce the duty cycle with which transistor Q1 is driven.
  • the voltage at the output of the L1 C1 filter also decreases. This continues until a steady state condition is reached when the voltage across sense resistor R3 is sufficient to generate a duty cycle at the output of the pulse width modulator M1 which results in an output voltage across C1 that will maintain the desired motor current. It should be noted that the time constant of resistor R3 and capacitor C2 should be so chosen that the sense voltage fed to the input of the pulse width modulator will represent the average value of the stepper motor coil current.
  • electromechanical devices where a high startup energy is needed.
  • electromechanical devices may include rotary solenoid, magnetic actuators, etc.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Stepping Motors (AREA)

Claims (2)

  1. Agencement (10) de circuit d'alimentation en énergie basse tension, servant à commander une charge inductive branchée entre un conducteur d'entrée IN (32) et un conducteur de sortie OUT (34); ladite charge incluant un moteur (20) équipé d'une pluralité (20) d'étages individuels (22) de commande des bobines du moteur, commandés par des moyens (24) de commande du moteur,
    ledit agencement incluant :
    des moyens d'alimentation en tension continue (12) délivrant un signal de tension continue;
    des moyens formant circuit hacheur (Q1,D1) alimentés par ledit signal de tension continue et comportant un conducteur d'entrée de commande (36), auquel un signal de commande d'entrée est appliqué pour produire un signal modifié de tension continue, dont le taux d'application/arrêt est fixé par le taux d'impulsions du signal de commande d'entrée présent sur un noeud de sortie (e);
    des moyens de filtrage (L1,C1) branchés entre ledit noeud de sortie (e) et ledit conducteur d'entrée IN (32) pour formation de la moyenne dudit signal modifié de tension continue et envoyer au moteur un courant de commande ou un signal de sortie;
    des moyens formant circuit de régulation branchés entre ledit conducteur d'entrée de commande et ledit conducteur de sortie OUT (34) et comprenant :
    des moyens de détection (R3) pouvant fonctionner de manière à réaliser la sommation du courant circulant dans les bobines du moteur pour produire un signal d'erreur représentatif dudit courant; et
    des moyens (M1) formant modulateur d'impulsions en durée et pouvant fonctionner pour produire ledit signal de sortie, dont le taux d'impulsions est commandé par ledit signal d'erreur;
    caractérisé en ce que lesdits moyens de détection incluent en outre des moyens d'intégration (C2) servant à intégrer le courant circulant dans les bobines, de sorte que le courant de commande du moteur est accru au moment du démarrage du moteur.
  2. Agencement de circuit d'alimentation basse tension selon la revendication 1, dans lequel ledit moteur est un moteur pas-à-pas.
EP85114354A 1984-12-07 1985-11-12 Commande de courant pour un circuit d'entraînement de moteur Expired EP0187224B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US679336 1984-12-07
US06/679,336 US4574228A (en) 1984-12-07 1984-12-07 Current controlled motor drive circuit

Publications (2)

Publication Number Publication Date
EP0187224A1 EP0187224A1 (fr) 1986-07-16
EP0187224B1 true EP0187224B1 (fr) 1991-07-24

Family

ID=24726509

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85114354A Expired EP0187224B1 (fr) 1984-12-07 1985-11-12 Commande de courant pour un circuit d'entraînement de moteur

Country Status (4)

Country Link
US (1) US4574228A (fr)
EP (1) EP0187224B1 (fr)
JP (1) JPS61139299A (fr)
DE (1) DE3583600D1 (fr)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1182511B (it) * 1985-07-12 1987-10-05 Marelli Autronica Circuito di controllo a corrente costante per un motore a passo di tipo unipolare particolarmente per l impiego a bordo di autoveicoli
JPS63174593A (ja) * 1987-01-13 1988-07-19 Meretsuku:Kk パルスモ−タ駆動回路
US4829222A (en) * 1987-08-19 1989-05-09 Pitney Bowes Inc. Stepper motor driver control circuit
IT1222824B (it) * 1987-10-05 1990-09-12 Sgs Microelettrica Spa Circuito di controllo di commutazione di corrente in carichi induttivi multipli,a singolo sensore di corrente,particolarmente per avvolgimenti di motori a passo
IT1225630B (it) * 1988-11-16 1990-11-22 Sgs Thomson Microelectronics Circuito integrato di controllo di commutazione di corrente in carichiinduttivi multipli esterni configurabile
FR2645369A1 (fr) * 1989-03-30 1990-10-05 Alcatel Espace Module de puissance pour electronique de commande de moteur continu
JPH0332396A (ja) * 1989-06-28 1991-02-12 Sharp Corp ステッピングモータ駆動装置
US5105140A (en) * 1990-01-11 1992-04-14 Baxer International Inc. Peristaltic pump motor drive
GB2264405B (en) * 1992-02-12 1996-06-12 Mars Inc Stepper motor drive circuit
FR2693326B1 (fr) * 1992-07-01 1994-07-29 Renault Procede et circuit de detection de la position d'un moteur pas-a-pas.
US5461290A (en) * 1994-01-03 1995-10-24 Eti Systems Control circuit for feedback, motor-operated valve
US5457364A (en) * 1994-01-18 1995-10-10 Allegro Microsystems, Inc. Bridge motor driver with short-circuit protection and motor-current limiting feature
US5742142A (en) * 1996-08-09 1998-04-21 Delco Electronics Corp. Low radiated emission motor speed control with PWM regulator
GB2332309A (en) * 1997-12-12 1999-06-16 Mad Lighting Ltd Stepper motor controller
US7692394B2 (en) * 2000-11-27 2010-04-06 Seagate Technology Llc Power supply output control apparatus and method
US8381760B2 (en) 2008-07-14 2013-02-26 Emerson Electric Co. Stepper motor valve and method of control
US8746275B2 (en) 2008-07-14 2014-06-10 Emerson Electric Co. Gas valve and method of control
US8860347B2 (en) * 2011-11-29 2014-10-14 Dispensing Dynamics International Apparatus for reducing current drain and current spike impact on battery-powered electronic dispensers

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3742330A (en) * 1971-09-07 1973-06-26 Delta Electronic Control Corp Current mode d c to a c converters
IT1134781B (it) * 1980-12-18 1986-08-13 Honeywell Inf Systems Circuito di controllo per motore passo a passo
DE3109315A1 (de) * 1981-03-11 1982-09-30 Siemens AG, 1000 Berlin und 8000 München Spannungsquelle mit strombegrenzung fuer die konstantstromansteuerung von schrittmotoren
JPS6057319B2 (ja) * 1982-08-09 1985-12-14 株式会社日立製作所 パルスモ−タ駆動装置
US4471283A (en) * 1982-11-02 1984-09-11 International Business Machines Corporation Average current regulation for stepper motors

Also Published As

Publication number Publication date
US4574228A (en) 1986-03-04
JPS61139299A (ja) 1986-06-26
EP0187224A1 (fr) 1986-07-16
DE3583600D1 (de) 1991-08-29

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